To construct the roadmap \(\mathbf {M}\) , in this work, we rely on the triangulation algorithm for polygons with holes, see Chapter 6 in [1]} and the package “poly2tri” in [2]}.
We omit the algorithmic details due to limited space and refer the interested readers to [3]} and [4]}, [5]} for different algorithms.
An example is shown in Figure REF .
This roadmap allows the robots to move among the waypoints without crossing the obstacles.
